Exploratory Navigation Based on Dynamical Boundary Value Problems

  title={Exploratory Navigation Based on Dynamical Boundary Value Problems},
  author={Marcelo Trevisan and Marco Aur{\'e}lio Pires Idiart and Edson Prestes e Silva and Paulo Martins Engel},
  journal={Journal of Intelligent and Robotic Systems},
The paper presents a general framework for concurrent navigation and exploration of unknown environments based on discrete potential fields that guide the robot motion. These potentials are obtained from a class of partial differential equation (PDE) problems called boundary value problems (BVP). The boundaries are generated from sensor readings and therefore they change as the robot moves. This framework corresponds to an extension of our previous work (Prestes et al., 2001; Prestes et al… CONTINUE READING
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